diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.cpp b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
index 2df6e08e9b7cde6a129f5459091ba1df578ea7b1..24d933cc3653b567235fd3eac80c80ac0720d6bb 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.cpp
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
@@ -28,6 +28,8 @@
#include <SimoxUtility/json/json.hpp>
+#include <iomanip>
+#include <optional>
namespace armarx
{
diff --git a/source/RobotAPI/components/ArViz/CMakeLists.txt b/source/RobotAPI/components/ArViz/CMakeLists.txt
index e4022f09ab2c719eaaeb7438fbc4a1980ea3f2fd..16442d23b8acbb12446de1f288c3f73dec39092c 100644
--- a/source/RobotAPI/components/ArViz/CMakeLists.txt
+++ b/source/RobotAPI/components/ArViz/CMakeLists.txt
@@ -10,6 +10,7 @@ set(COMPONENT_LIBS
set(SOURCES
+ Client/Client.cpp
Client/Elements.cpp
Client/elements/Mesh.cpp
Client/elements/Robot.cpp
diff --git a/source/RobotAPI/components/ArViz/Client/Client.cpp b/source/RobotAPI/components/ArViz/Client/Client.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a049c68ef97d88312c646cbb7cf1a89f04a10f5d
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/Client.cpp
@@ -0,0 +1,56 @@
+#include "Client.h"
+
+#include <ArmarXCore/core/Component.h>
+
+namespace armarx::viz
+{
+
+Client::Client(Component& component, std::string const& topicNameProperty, std::string const& storageNameProperty)
+{
+ componentName = component.getName();
+ component.getTopicFromProperty(topic, topicNameProperty);
+
+ // Optional dependency on ArVizStorage
+ std::string storageName;
+ if (component.hasProperty(storageNameProperty))
+ {
+ storageName = component.getProperty<std::string>(storageNameProperty);
+ }
+ else
+ {
+ storageName = "ArVizStorage";
+ }
+ component.getProxy(storage, storageName, false, "", false);
+}
+
+Client::Client(ManagedIceObject& obj, const std::string& topicName)
+{
+ componentName = obj.getName();
+ obj.getTopic(topic, topicName);
+}
+
+Client Client::createFromTopic(const std::string arvizNamespace, Topic::ProxyType topic)
+{
+ Client client;
+ client.componentName = arvizNamespace;
+ client.topic = topic;
+ return client;
+}
+
+Client Client::createForGuiPlugin(Component& component, const std::string& topicName)
+{
+ Client client;
+ std::string name = component.getName();
+ std::size_t dashPos = name.find('-');
+ if (dashPos != std::string::npos)
+ {
+ name = name.substr(0, dashPos);
+ }
+ client.componentName = name;
+ component.getTopic(client.topic, topicName);
+ return client;
+}
+
+
+
+}
diff --git a/source/RobotAPI/components/ArViz/Client/Client.h b/source/RobotAPI/components/ArViz/Client/Client.h
index f946e02d4298910c72bb4d8a59bf9d64d42ac5ab..53c33e17b0c22445e25dfc1e50c080d46026a2ee 100644
--- a/source/RobotAPI/components/ArViz/Client/Client.h
+++ b/source/RobotAPI/components/ArViz/Client/Client.h
@@ -5,159 +5,129 @@
#include "Layer.h"
-#include <ArmarXCore/core/Component.h>
-
-namespace armarx::viz
+namespace armarx
{
+ class Component;
+ class ManagedIceObject;
- class Client
+namespace viz
+{
+ /**
+ * A staged commit prepares multiple layers to be committed.
+ *
+ * Add all relevant layer updates via .add(layer).
+ * Add layers for which you want interaction feedback via .requestInteraction(layer).
+ * Then, commit via client.commit(stagedCommit).
+ *
+ * A staged commit can be reused for subsequent commits.
+ * Remember to call .reset() to clear the internal data structures.
+ *
+ * As long as you keep the staged commits separate, this method is thread-safe.
+ * So you can have two threads calling .commit(A) and .commit(B)
+ * simultaneously without any locking mechanism.
+ */
+ struct StagedCommit
{
- public:
- Client() = default;
- virtual ~Client() = default;
-
- Client(armarx::Component& component, std::string topicNameProperty = "ArVizTopicName")
+ /**
+ * @brief Stage a layer to be committed later via client.commit(*this)
+ * @param layer The layer to be added to this staged commit.
+ */
+ void add(Layer const& layer)
{
- componentName = component.getName();
- component.getTopicFromProperty(_topic, topicNameProperty);
+ data_.updates.push_back(layer.data_);
}
- Client(ManagedIceObject& obj, const std::string& topicName = "ArVizTopic")
+ /**
+ * @brief Request interaction feedback for a particular layer.
+ * @param layer The layer you want to get interaction feedback for.
+ */
+ void requestInteraction(Layer const& layer)
{
- componentName = obj.getName();
- obj.getTopic(_topic, topicName);
+ data_.interactionComponent = layer.data_.component;
+ data_.interactionLayers.push_back(layer.data_.name);
}
- static Client createFromTopic(const std::string arvizNamespace, armarx::viz::Topic::ProxyType topic)
+ /**
+ * @brief Reset all staged layers and interaction requests.
+ */
+ void reset()
{
- Client client;
- client.componentName = arvizNamespace;
- client._topic = topic;
- return client;
+ data_.updates.clear();
+ data_.interactionComponent.clear();
+ data_.interactionLayers.clear();
}
- static Client createForGuiPlugin(armarx::Component& component, std::string const& topicName = "ArVizTopic")
- {
- Client client;
- std::string name = component.getName();
- std::size_t dashPos = name.find('-');
- if (dashPos != std::string::npos)
- {
- name = name.substr(0, dashPos);
- }
- client.componentName = name;
- component.getTopic(client._topic, topicName);
- return client;
- }
+ viz::data::CommitInput data_;
+ };
- // ////////////////////////////////////////////////////////////////// //
- //layer
- virtual Layer layer(std::string const& name) const
- {
- return Layer(componentName, name);
- }
+ struct Client
+ {
+ Client() = default;
- template<class...Ts>
- Layer layerContaining(std::string const& name, Ts&& ...elems) const
- {
- auto l = layer(name);
- l.add(std::forward<Ts>(elems)...);
- return l;
- }
- // ////////////////////////////////////////////////////////////////// //
- //enqueue
- void enqueueLayer(const Layer& l)
- {
- updates.emplace_back(l.data_);
- }
- void enqueueLayer(const Layer* l)
- {
- updates.emplace_back(l->data_);
- }
- void enqueueLayer(std::initializer_list<Layer> const& layers)
- {
- for (const auto& l : layers)
- {
- enqueueLayer(l);
- }
- }
- void enqueueLayer(const std::vector<const Layer*>& layers)
- {
- for (const auto& l : layers)
- {
- enqueueLayer(l);
- }
- }
- void enqueueLayer(const std::vector<Layer>& layers)
- {
- for (const auto& l : layers)
- {
- enqueueLayer(l);
- }
- }
- template<class...Ts>
- void enqueueLayerContaining(std::string const& name, Ts&& ...elems)
- {
- enqueueLayer(layerContaining(name, std::forward<Ts>(elems)...));
- }
- void enqueueDeleteLayer(std::string const& name)
- {
- auto l = layer(name);
- l.data_.action = data::LayerAction::Layer_DELETE;
- enqueueLayer(std::move(l));
- }
- // ////////////////////////////////////////////////////////////////// //
- //commit
+ Client(armarx::Component& component,
+ std::string const& topicNameProperty = "ArVizTopicName",
+ std::string const& storageNameProperty = "ArVizStorageName");
- void commit(std::initializer_list<Layer> const& layers)
+ Client(ManagedIceObject& obj, const std::string& topicName = "ArVizTopic");
+
+ static Client createFromTopic(const std::string arvizNamespace, armarx::viz::Topic::ProxyType topic);
+
+ static Client createForGuiPlugin(armarx::Component& component, std::string const& topicName = "ArVizTopic");
+
+ Layer layer(std::string const& name) const
{
- enqueueLayer(layers);
- commit();
+ return Layer(componentName, name);
}
- void commit(const std::vector<const Layer*>& layers)
+ StagedCommit stage()
{
- enqueueLayer(layers);
- commit();
+ return StagedCommit();
}
- void commit(const std::vector<Layer>& layers)
+ void apply(StagedCommit const& commit)
{
- enqueueLayer(layers);
- commit();
+ // TODO: Implement
}
- template<class...Ts>
- void
- commit(Ts&& ...ts)
+ void commit(std::vector<Layer> const& layers)
{
- (enqueueLayer(std::forward<Ts>(ts)), ...);
- _topic->updateLayers(updates);
- updates.clear();
+ data::LayerUpdateSeq updates;
+ updates.reserve(layers.size());
+ for (Layer const& layer : layers)
+ {
+ updates.push_back(layer.data_);
+ }
+ // This commit call still uses the legacy topic API
+ topic->updateLayers(updates);
}
- template<class...Ts>
- void commitLayerContaining(std::string const& name, Ts&& ...elems)
+ template <typename ElementT>
+ void commitLayerContaining(std::string const& name, ElementT const& element = nullptr)
{
- commit(layerContaining(name, std::forward<Ts>(elems)...));
+ std::vector<viz::Layer> layers;
+ viz::Layer& newLayer = layers.emplace_back(this->layer(name));
+ if (element != nullptr)
+ {
+ newLayer.add(element);
+ }
+ commit(layers);
}
void commitDeleteLayer(std::string const& name)
{
- enqueueDeleteLayer(name);
- commit();
+ std::vector<viz::Layer> layers;
+ viz::Layer& layerToDelete = layers.emplace_back(this->layer(name));
+ layerToDelete.markForDeletion();
+ commit(layers);
}
- const armarx::viz::TopicPrx& topic() const
- {
- return _topic;
- }
private:
std::string componentName;
- armarx::viz::TopicPrx _topic;
-
+ armarx::viz::StorageInterfacePrx storage;
+ armarx::viz::TopicPrx topic;
data::LayerUpdateSeq updates;
};
}
+}
diff --git a/source/RobotAPI/components/ArViz/Client/Layer.h b/source/RobotAPI/components/ArViz/Client/Layer.h
index 27e056d78eb767637ab9b7a96951c01e3035e902..ef9b0fef855eb89f9151717694a1a2c33517d108 100644
--- a/source/RobotAPI/components/ArViz/Client/Layer.h
+++ b/source/RobotAPI/components/ArViz/Client/Layer.h
@@ -31,19 +31,18 @@ namespace armarx::viz
data_.elements.push_back(element.data_);
}
- template <typename ElementT>
- void add(std::vector<ElementT> const& elements)
- {
- for (const auto& e : elements)
- {
- add(e);
- }
- }
-
- template<class...Ts>
- std::enable_if_t < sizeof...(Ts) != 1 > add(Ts&& ...elems)
+// template <typename ElementT>
+// void add(std::vector<ElementT> const& elements)
+// {
+// for (ElementT const& e : elements)
+// {
+// add(e);
+// }
+// }
+
+ void markForDeletion()
{
- (add(std::forward<Ts>(elems)), ...);
+ data_.action = data::LayerAction::Layer_DELETE;
}
std::size_t size() const noexcept
diff --git a/source/RobotAPI/components/ArViz/Client/ScopedClient.h b/source/RobotAPI/components/ArViz/Client/ScopedClient.h
index 4a799efda714e8850f23e3cac7ecaad995c28119..28969ed9fed88eb4ec3fc36ad271ac496dd9b9e7 100644
--- a/source/RobotAPI/components/ArViz/Client/ScopedClient.h
+++ b/source/RobotAPI/components/ArViz/Client/ScopedClient.h
@@ -45,11 +45,11 @@ namespace armarx::viz
using Client::Client;
ScopedClient(const Client& client);
- Layer layer(std::string const& name) const override;
+ Layer layer(std::string const& name) const;
virtual ~ScopedClient();
private:
mutable std::set<std::string> layers;
};
-} // namespace armarx::viz
\ No newline at end of file
+} // namespace armarx::viz
diff --git a/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.cpp b/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.cpp
index 9d2c8e7ed36b6a494556ecdd55e652aea93b7e77..1dc87da8eda2a1d6507c9e6bdf56c82dd88a20c9 100644
--- a/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.cpp
+++ b/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.cpp
@@ -22,13 +22,13 @@ namespace armarx
void ArVizDrawerBase::commit(const viz::Layer& layer)
{
- std::lock_guard guard{layerMtx};
- arvizClient.commit(layer);
+ // std::lock_guard guard{layerMtx};
+ arvizClient.commit({layer});
}
void ArVizDrawerBase::commit(const std::vector<viz::Layer>& layers)
{
- std::lock_guard guard{layerMtx};
+ // std::lock_guard guard{layerMtx};
arvizClient.commit(layers);
}
diff --git a/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.h b/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.h
index e302acc5c27e025aac9c103793f7a5ed726d76d9..fffd7fbb5f470428978409ff4ad88640f43a7ec8 100644
--- a/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.h
+++ b/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.h
@@ -58,7 +58,8 @@ namespace armarx
private:
viz::ScopedClient arvizClient;
- std::mutex layerMtx;
+ // Mutex is no longer necessary ==> This class can be removed!
+ // std::mutex layerMtx;
};
} // namespace armarx
diff --git a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
index 2cef2e309bc535edee1f5b86194a002e90fd59ed..df75428333532a8975f4a142700d08c41ac13b90 100644
--- a/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
+++ b/source/RobotAPI/components/ArViz/Example/ArVizExample.cpp
@@ -561,23 +561,23 @@ namespace armarx
{
viz::Layer permanentLayer = arviz.layer("Permanent");
fillPermanentLayer(permanentLayer);
- arviz.commit(permanentLayer);
+ arviz.commit({permanentLayer});
}
bool manyElements = getProperty<bool>("layers.ManyElements");
if (manyElements)
{
viz::Layer manyElementsLayer = arviz.layer("ManyElements");
fillManyElementsLayer(manyElementsLayer, 0);
- arviz.commit(manyElementsLayer);
+ arviz.commit({manyElementsLayer});
}
{
viz::Layer colorMapsLayer = arviz.layer("ColorMaps");
fillColorMapsLayer(colorMapsLayer, 0);
- arviz.commit(colorMapsLayer);
+ arviz.commit({colorMapsLayer});
}
fillInteractionLayer(interactionLayer);
- arviz.commit(interactionLayer);
+ arviz.commit({interactionLayer});
CycleUtil c(20);
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.h
index c5c4c52b6d430a4715f83893346ec7fa1acb1706..72a4ee76f56373b6e03697b76a9c45e07a3816dd 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.h
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.h
@@ -124,7 +124,7 @@ namespace armarx
class DebugDrawerHelper : public armarx::detail::DebugDrawerHelper::FrameView
{
using FrameView = armarx::detail::DebugDrawerHelper::FrameView;
- friend class FrameView;
+ friend class armarx::detail::DebugDrawerHelper::FrameView;
public:
struct Defaults
{
diff --git a/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.cpp b/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.cpp
index 4ac857086a55e5ec19b709ca00dcd24f2b23a574..f3417d30644acd9540aa8c1f888a77c49290a225 100644
--- a/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.cpp
+++ b/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.cpp
@@ -21,13 +21,13 @@
*/
#include "DebugDrawerToArViz.h"
-
-#include <SimoxUtility/math/pose/pose.h>
-#include <SimoxUtility/color/interpolation.h>
+#include "BlackWhitelistUpdate.h"
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
-#include "BlackWhitelistUpdate.h"
+#include <SimoxUtility/color/interpolation.h>
+#include <SimoxUtility/math/pose/pose.h>
#define FUNCTION_NOT_IMPLEMENTED_MESSAGE \
@@ -180,7 +180,7 @@ namespace armarx
setLayerElement(layer, viz::Polygon(ss.str()).addPoint(toEigen(p1)).addPoint(toEigen(p2))
.lineColor(color).lineWidth(lineSet.lineWidth).color(simox::Color::black(0)));
}
- arviz.commit(layer);
+ arviz.commit({layer});
}
void DebugDrawerToArViz::setBoxVisu(const std::string& layer, const std::string& name, const PoseBasePtr& globalPose, const Vector3BasePtr& dimensions, const DrawColor& color, const Ice::Current&)
@@ -390,7 +390,7 @@ namespace armarx
viz::Robot& robot = it->second;
robot.pose(toEigen(globalPose));
}
- arviz.commit(getLayer(layer));
+ arviz.commit({getLayer(layer)});
}
void DebugDrawerToArViz::updateRobotConfig(const std::string& layer, const std::string& name, const NameValueMap& configuration, const Ice::Current&)
@@ -405,7 +405,7 @@ namespace armarx
viz::Robot& robot = it->second;
robot.joints(configuration);
}
- arviz.commit(getLayer(layer));
+ arviz.commit({getLayer(layer)});
}
void DebugDrawerToArViz::updateRobotColor(const std::string& layer, const std::string& name, const DrawColor& color, const Ice::Current&)
@@ -420,7 +420,7 @@ namespace armarx
viz::Robot& robot = it->second;
robot.overrideColor(toViz(color));
}
- arviz.commit(getLayer(layer));
+ arviz.commit({getLayer(layer)});
}
void DebugDrawerToArViz::updateRobotNodeColor(const std::string& layer, const std::string& name, const std::string& robotNodeName, const DrawColor& color, const Ice::Current&)
@@ -675,12 +675,12 @@ namespace armarx
{
std::scoped_lock lock(mutex);
- std::vector<const viz::Layer*> commit;
+ std::vector<viz::Layer> commit;
commit.reserve(layers.size());
for (auto& [name, layer] : layers)
{
layer.clear();
- commit.push_back(&layer);
+ commit.push_back(layer);
}
arviz.commit(commit);
}
@@ -690,7 +690,7 @@ namespace armarx
viz::Layer layer = getLayer(layerName);
layer.clear();
- arviz.commit(layer);
+ arviz.commit({layer});
}
void DebugDrawerToArViz::clearDebugLayer(const Ice::Current&)
{
@@ -802,7 +802,7 @@ namespace armarx
{
viz::Layer& layer = getLayer(layerName);
removeLayerElement(layer, name);
- arviz.commit(layer);
+ arviz.commit({layer});
}
}
diff --git a/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.h b/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.h
index f4ce170c84fb0ce7507a8e87bf2901b53d3b7d89..38e66882d00f87ee17e55e76699b943be51d66c6 100644
--- a/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.h
+++ b/source/RobotAPI/components/DebugDrawerToArViz/DebugDrawerToArViz.h
@@ -187,7 +187,7 @@ namespace armarx
{
viz::Layer& layer = getLayer(layerName);
setLayerElement(layer, element);
- arviz.commit(layer);
+ arviz.commit({layer});
}
void removeLayerElement(viz::Layer& layer, const std::string& name);
diff --git a/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp b/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp
index 6ca25b01ef9eb704a2f29140e54e6e602c8b32b6..61497d62d399adf6f1c89a0a0de1c544a902ec51 100644
--- a/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp
+++ b/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp
@@ -269,7 +269,7 @@ namespace armarx
while (current_distance < distance_to_goal)
{
- for (const auto man_obstacle : m_managed_obstacles)
+ for (const auto& man_obstacle : m_managed_obstacles)
{
Eigen::Vector2f sample = agentPosition + ((goal - agentPosition).normalized() * current_distance);
Eigen::Vector2f sample_left = sample + (orthogonal_normalized * 250);
diff --git a/source/RobotAPI/components/DynamicObstacleManager/ManagedObstacle.h b/source/RobotAPI/components/DynamicObstacleManager/ManagedObstacle.h
index 5dd70f211733cc61469a0d8b2be38f242b3307ff..a730c63ab96362386781388d65f426217b328721 100644
--- a/source/RobotAPI/components/DynamicObstacleManager/ManagedObstacle.h
+++ b/source/RobotAPI/components/DynamicObstacleManager/ManagedObstacle.h
@@ -30,6 +30,7 @@
#include <shared_mutex>
#include <string>
#include <vector>
+#include <memory>
// Eigen
#include <Eigen/Geometry>
diff --git a/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.cpp b/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.cpp
index 997be9e96b87d88593d27fd7120f332a21912b05..906fc21433a7e5f6f6aec6898da7d55c6667e2cd 100644
--- a/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.cpp
+++ b/source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.cpp
@@ -147,7 +147,7 @@ namespace armarx
{
ARMARX_CHECK_NOT_NULL(_driver);
- for (const std::pair<std::string, float>& pair : targetJointAngles)
+ for (const auto& pair : targetJointAngles)
{
if (pair.first == "Fingers")
{
diff --git a/source/RobotAPI/components/ObjectPoseClientExample/ObjectPoseClientExample.cpp b/source/RobotAPI/components/ObjectPoseClientExample/ObjectPoseClientExample.cpp
index b6d5c668ecd0ad66bf47036d1b300efa9e814803..43f32295717ff031d2ac9b6f54184c21b8c60e73 100644
--- a/source/RobotAPI/components/ObjectPoseClientExample/ObjectPoseClientExample.cpp
+++ b/source/RobotAPI/components/ObjectPoseClientExample/ObjectPoseClientExample.cpp
@@ -89,7 +89,7 @@ namespace armarx
.fileByObjectFinder(objectPose.objectID)
.alpha(objectPose.confidence));
}
- arviz.commit(layer);
+ arviz.commit({layer});
}
cycle.waitForCycleDuration();
diff --git a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
index a6cf94b3a961e53c179c14132e5d3aaa3a11ba5b..7e83132236f7478cf9570747a6c0e83add0e1fab 100644
--- a/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
+++ b/source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h
@@ -3,6 +3,7 @@
#include <memory>
+#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
diff --git a/source/RobotAPI/components/units/GraspCandidateObserver.cpp b/source/RobotAPI/components/units/GraspCandidateObserver.cpp
index 8b3f0299ee9732265b757d6c5b375a08e72d554b..e780bbfe388f6e484673bbd44d5cc7c3bf5f0570 100644
--- a/source/RobotAPI/components/units/GraspCandidateObserver.cpp
+++ b/source/RobotAPI/components/units/GraspCandidateObserver.cpp
@@ -185,7 +185,7 @@ GraspCandidateSeq GraspCandidateObserver::getAllCandidates(const Ice::Current&)
{
std::unique_lock lock(dataMutex);
GraspCandidateSeq all;
- for (const std::pair<std::string, grasping::GraspCandidateSeq>& pair : candidates)
+ for (const auto& pair : candidates)
{
all.insert(all.end(), pair.second.begin(), pair.second.end());
}
@@ -215,7 +215,7 @@ GraspCandidateSeq GraspCandidateObserver::getCandidatesByFilter(const CandidateF
{
std::unique_lock lock(dataMutex);
GraspCandidateSeq matching;
- for (const std::pair<std::string, grasping::GraspCandidateSeq>& pair : candidates)
+ for (const auto& pair : candidates)
{
for (const grasping::GraspCandidatePtr& candidate : pair.second)
{
@@ -268,7 +268,7 @@ BimanualGraspCandidateSeq GraspCandidateObserver::getAllBimanualCandidates(const
{
std::unique_lock lock(dataMutex);
BimanualGraspCandidateSeq all;
- for (const std::pair<std::string, grasping::BimanualGraspCandidateSeq>& pair : bimanualCandidates)
+ for (const auto& pair : bimanualCandidates)
{
all.insert(all.end(), pair.second.begin(), pair.second.end());
}
@@ -311,7 +311,7 @@ void GraspCandidateObserver::checkHasProvider(const std::string& providerName)
StringSeq GraspCandidateObserver::getAvailableProviderNames()
{
StringSeq names;
- for (const std::pair<std::string, ProviderInfoPtr>& pair : providers)
+ for (const auto& pair : providers)
{
names.push_back(pair.first);
}
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/GazeController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/GazeController.cpp
index daacae417637d89a1a4d23a79a6a4668d196b69d..1a545e067effa40daed3e05b5c34dda4c8f851a9 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/GazeController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/GazeController.cpp
@@ -200,7 +200,8 @@ namespace armarx
void GazeController::removeTargetAfter(long durationMilliSeconds, const Ice::Current&)
{
- std::async(std::launch::async, [](long durationMilliSeconds, GazeController * self)
+ // TODO: This probably does not run async, as a future associated with std::async waits on destruction
+ auto void_f = std::async(std::launch::async, [](long durationMilliSeconds, GazeController * self) -> void
{
std::this_thread::sleep_for(std::chrono::milliseconds(durationMilliSeconds));
self->removeTarget();
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h
index 7ed79a0b5f833864eedf06900548b37fa1e6b780..f23c8a04945858b9efdb071f1c5215b719073be0 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h
@@ -72,7 +72,7 @@ namespace armarx
void setPositionOrientation(const Eigen::Vector3f& pos, const Eigen::Quaternionf& ori, const Ice::Current&) override;
void setPose(const Eigen::Matrix4f& mat, const Ice::Current&) override;
- void setImpedanceParameters(const std::string&, const Ice::FloatSeq&, const Ice::Current&);
+ void setImpedanceParameters(const std::string&, const Ice::FloatSeq&, const Ice::Current&) override;
void setNullspaceConfig(const Eigen::VectorXf& joint, const Eigen::VectorXf& knull, const Eigen::VectorXf& dnull, const Ice::Current&) override;
void setConfig(const NJointTaskSpaceImpedanceControlRuntimeConfig& cfg, const Ice::Current&) override;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
index 975979177d45d71530317ea6f282929d72f6924c..add2ad5c7c23515351db4b7a9cb2f05f5dfffc6d 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.h
@@ -300,5 +300,11 @@ namespace armarx::RobotUnitModule
std::size_t rtLoggingTimestepMs {0};
/// @brief The time an entry shold remain in the backlog.
IceUtil::Time rtLoggingBacklogRetentionTime;
+
+ friend void WriteTo(const auto& dentr,
+ const Logging::DataStreamingEntry::OutVal& out,
+ const auto& val,
+ std::size_t fidx,
+ auto& data);
};
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
index e65e6506a5312346f4409f68a09880c3aa77b939..a9d2e8de69625147071a2e2aaa650d43de40cdb9 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
@@ -293,7 +293,7 @@ namespace armarx::RobotUnitModule
//check for all nodes 0
{
bool allJoints0 = true;
- for (const VirtualRobot::RobotNodePtr node : selfCollisionAvoidanceRobotNodes)
+ for (const auto& node : selfCollisionAvoidanceRobotNodes)
{
if (0 != node->getJointValue())
{
diff --git a/source/RobotAPI/components/units/RobotUnit/util/HeterogenousContinuousContainer.h b/source/RobotAPI/components/units/RobotUnit/util/HeterogenousContinuousContainer.h
index 3a98c100b79bef43a55b1dd12475a41c8016c5b5..8539b52e860fc21b785fad49e6d1a0c342c92ae1 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/HeterogenousContinuousContainer.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/HeterogenousContinuousContainer.h
@@ -30,7 +30,7 @@
#include "HeterogenousContinuousContainerMacros.h"
-#if __GNUC__< 5
+#if __GNUC__< 5 && !defined(__clang__)
namespace std
{
inline void* align(size_t alignment, size_t bytes, void*& bufferPlace, size_t& bufferSpace) noexcept
diff --git a/source/RobotAPI/gui-plugins/ArVizDrawerGui/ArVizDrawerGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/ArVizDrawerGui/ArVizDrawerGuiWidgetController.cpp
index defcb3362d6c038761389b87215cc149c5a061d9..090a2c7e47eeb7647b955dc69b166d9aa97b2c05 100644
--- a/source/RobotAPI/gui-plugins/ArVizDrawerGui/ArVizDrawerGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ArVizDrawerGui/ArVizDrawerGuiWidgetController.cpp
@@ -84,7 +84,7 @@ namespace armarx
elem->addTo(layer);
}
}
- getArvizClient().commit(layer);
+ getArvizClient().commit({layer});
}
}
diff --git a/source/RobotAPI/gui-plugins/BoxToGraspCandidates/BoxToGraspCandidatesWidgetController.cpp b/source/RobotAPI/gui-plugins/BoxToGraspCandidates/BoxToGraspCandidatesWidgetController.cpp
index 27cb74dadea8b121431466d39e4633d94832a3d6..1e8b97c14c4d086336373c19dfcd59aff13e4ca9 100644
--- a/source/RobotAPI/gui-plugins/BoxToGraspCandidates/BoxToGraspCandidatesWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/BoxToGraspCandidates/BoxToGraspCandidatesWidgetController.cpp
@@ -296,10 +296,14 @@ namespace armarx
side_enabled_r[ba::neg_z_neg_y] = _ui.checkBoxGraspRNegZNegY->isChecked();
}
- auto layer_l = getArvizClient().layer("grasps_l");
- auto layer_r = getArvizClient().layer("grasps_r");
- auto layer_hand_vec = getArvizClient().layer("hand_vec");
- getArvizClient().enqueueLayerContaining("box", viz::Box{"box"}.set(box).transformPose(_robot->getGlobalPose()));
+ viz::Layer layer_l = arviz.layer("grasps_l");
+ viz::Layer layer_r = arviz.layer("grasps_r");
+ viz::Layer layer_hand_vec = arviz.layer("hand_vec");
+ viz::Layer layer_box = arviz.layer("box");
+ layer_box.add(viz::Box{"box"}
+ .set(box)
+ .transformPose(_robot->getGlobalPose())
+ );
gc_draw.draw(b2gc.side("Left"), layer_hand_vec);
gc_draw.draw(b2gc.side("Right"), layer_hand_vec);
@@ -318,7 +322,7 @@ namespace armarx
b2gc.center_grasps(box, "Left", lim, consume_l, side_enabled_l);
b2gc.center_grasps(box, "Right", lim, consume_r, side_enabled_r);
- getArvizClient().commit(layer_l, layer_r, layer_hand_vec);
+ arviz.commit({layer_l, layer_r, layer_hand_vec, layer_box});
_gc_topic->reportGraspCandidates(getName(), graps);
}
diff --git a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
index c5f588adf750b8b2eda12375c798b7d80c741dfa..68fbc7165c7d318cf68990f779c074d2f9e12cd4 100644
--- a/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/ObjectPoseGui/ObjectPoseGuiWidgetController.cpp
@@ -357,7 +357,7 @@ namespace armarx
QAction* attachAgentAction = new QAction(QString::fromStdString(frame), tree);
// attachAgentAction->setStatusTip(tr("Attach object rigidly to a robot node"));
connect(attachAgentAction, &QAction::triggered,
- [ = ]()
+ [ =, this ]()
{
this->attachObjectToRobotNode(providerName, objectID, agentFrames.agent, frame);
});
@@ -368,7 +368,7 @@ namespace armarx
QAction* detachAction = new QAction(tr("Detach from to robot node"), tree);
detachAction->setEnabled(!item->text(OBJECTS_COLUMN_ATTACHMENT).isEmpty());
- connect(detachAction, &QAction::triggered, [ = ]()
+ connect(detachAction, &QAction::triggered, [ =, this ]()
{
this->detachObjectFromRobotNode(providerName, objectID);
});
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
index 92a5760ae47f099c3408606903efb25db007f764..4b61a29ecf41a7af19336ccdc81d30c7dc32189a 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.cpp
@@ -75,19 +75,19 @@ namespace armarx
}
// Search for object in datasets.
const std::vector<std::string>& datasets = getDatasets();
- for (const std::string& dataset : datasets)
+ for (const std::string& ds : datasets)
{
- if (fs::is_directory(_rootDirAbs() / dataset / name))
+ if (fs::is_directory(_rootDirAbs() / ds / name))
{
- return ObjectInfo(packageName, absPackageDataDir, relObjectsDir, dataset, name);
+ return ObjectInfo(packageName, absPackageDataDir, relObjectsDir, ds, name);
}
}
std::stringstream ss;
ss << "Did not find object '" << name << "' in any of these datasets:\n";
- for (const path& dataset : datasets)
+ for (const auto& ds : datasets)
{
- ss << "- " << dataset << "\n";
+ ss << "- " << ds << "\n";
}
ss << "Objects root directory: " << _rootDirAbs();
ARMARX_VERBOSE << ss.str();
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h
index 6ce746eddb21cf676150d615cb2d9d57f2211d13..b55213a1a07b1403ca2375187284cd4a5ccecdb4 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h
@@ -46,10 +46,6 @@ namespace armarx
armarx::viz::Client& getArvizClient()
{
- if (!arviz.topic())
- {
- arviz = createArVizClient();
- }
return arviz;
}
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt b/source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt
index ea00db45e6987b2df3fd021abf71cbd95d1e6a37..100088eb3f98b6b37ce669b7830d60b20587f59a 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt
@@ -9,6 +9,7 @@ set(LIBS
diffik
RobotStatechartHelpers
RobotUnitDataStreamingReceiver
+ ArViz
)
set(LIB_FILES
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
index d256ee202c02d8ebf204455afa241731557815c8..57a714eacc92f1243dcd31d30ea08b1d48648dc0 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
@@ -48,7 +48,7 @@ namespace armarx
return;
}
str << ind << n->name << ", profile = " << n->profile << ", value " << n->value << '\n';
- for (const auto c : n->children)
+ for (const auto& c : n->children)
{
writeRobotInfoNode(c, str, indent + 1);
}
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
index 65fbc12c2b037ab7b1f7e9101d651e2592e168aa..1c40eac0d8c07c476129e0e852f4e29f57d20144 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
@@ -103,7 +103,7 @@ namespace armarx
struct RobotArm
{
friend class RobotNameHelper;
- friend class Arm;
+ friend struct Arm;
public:
std::string getSide() const;
VirtualRobot::RobotNodeSetPtr getKinematicChain() const;
diff --git a/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.cpp b/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.cpp
index 75096ffed0c58eb6b98245f21ded0d2a81e23109..ecf7f69cdc41df7319c29a9fac28aa0362724a8d 100644
--- a/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.cpp
+++ b/source/RobotAPI/libraries/SimpleJsonLogger/SimpleJsonLoggerEntry.cpp
@@ -109,7 +109,7 @@ namespace armarx
JsonObjectPtr SimpleJsonLoggerEntry::ToObj(const std::map<std::string, float>& value)
{
JsonObjectPtr obj(new JsonObject);
- for (const std::pair<std::string, float>& pair : value)
+ for (const auto& pair : value)
{
obj->add(pair.first, JsonValue::Create(pair.second));
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
index cb0088285ca161ddc9283f3a024b65a86809fb1b..f0be74213236e8cc13ea2eb0716bcdff98065ff8 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/FloorVis.cpp
@@ -43,7 +43,7 @@ namespace armarx::armem::server::obj::clazz
ARMARX_INFO << "Did not find floor class '" << properties.entityName << "'.";
}
}
- arviz.commit(layer);
+ arviz.commit({layer});
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 8b1ae942a95b73119eea072b7f33a539a05fbbdf..7c032c40a0a42914a9810a64b41e5d6b958feef7 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -167,7 +167,7 @@ namespace armarx::armem::server::obj::clazz
}
}
- arviz.commit(layerObject, layerOrigin, layerAABB, layerOOBB);
+ arviz.commit({layerObject, layerOrigin, layerAABB, layerOOBB});
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h b/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h
index 5a731720c49fdb33749edab4ca4c9792eedc0599..b6b0acb6da46d593f2da2677e9e7258ce6d7e0c2 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/RobotHeadMovement.h
@@ -2,6 +2,7 @@
#include <string>
#include <vector>
+#include <optional>
#include <IceUtil/Time.h>
diff --git a/source/RobotAPI/libraries/aron/core/data/rw/Writer.h b/source/RobotAPI/libraries/aron/core/data/rw/Writer.h
index 7482b13b6ab19f1ca5ef38087e1417a8b1479d56..0461a50fcb25567f4df2315e86f44dba2f5e343d 100644
--- a/source/RobotAPI/libraries/aron/core/data/rw/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/data/rw/Writer.h
@@ -23,6 +23,7 @@
// STD/STL
#include <memory>
#include <string>
+#include <optional>
// ArmarX
#include <RobotAPI/interface/aron.h>
diff --git a/source/RobotAPI/libraries/aron/core/type/rw/Writer.h b/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
index e0f0620a491c120090be226712b5e1e8e9d55411..471b145503c02021a92cee6ba8e1e1599a22d6c5 100644
--- a/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/type/rw/Writer.h
@@ -23,6 +23,7 @@
// STD/STL
#include <memory>
#include <string>
+#include <optional>
// ArmarX
#include <RobotAPI/interface/aron.h>
diff --git a/source/RobotAPI/libraries/aron/core/typereader/xml/Data.h b/source/RobotAPI/libraries/aron/core/typereader/xml/Data.h
index 2fdda0b29d766300ae6364bdacf3ab3a855614a3..34fc92ef71afbfa4bee417ebe4cb1d3f4c47cc39 100644
--- a/source/RobotAPI/libraries/aron/core/typereader/xml/Data.h
+++ b/source/RobotAPI/libraries/aron/core/typereader/xml/Data.h
@@ -26,6 +26,7 @@
// STD/STL
#include <memory>
#include <map>
+#include <optional>
// ArmarX
#include <SimoxUtility/xml.h>
diff --git a/source/RobotAPI/libraries/core/FramedOrientedPoint.cpp b/source/RobotAPI/libraries/core/FramedOrientedPoint.cpp
index fa5ea9fe7c8ba2e5dab6ea7a8020c47d1e605070..67391514fcba1a51f62ab4488aa1d5f4d54a4a1e 100644
--- a/source/RobotAPI/libraries/core/FramedOrientedPoint.cpp
+++ b/source/RobotAPI/libraries/core/FramedOrientedPoint.cpp
@@ -34,6 +34,7 @@ namespace armarx
FramedOrientedPoint::FramedOrientedPoint(const FramedOrientedPoint& source) :
IceUtil::Shared(source),
+ armarx::Serializable(source),
OrientedPointBase(source),
FramedOrientedPointBase(source),
OrientedPoint(source)
diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index c5e4d774bf02fdb78bb84c6bb4253bdec6713679..3399214dc4957654f5e8cdefa76a99bdee29640f 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -50,6 +50,7 @@ namespace armarx
FramedDirection::FramedDirection(const FramedDirection& source) :
IceUtil::Shared(source),
+ armarx::Serializable(source),
Vector3Base(source),
FramedDirectionBase(source),
Vector3(source)
@@ -282,6 +283,8 @@ namespace armarx
FramedPose::FramedPose(const FramedPose& pose) :
IceUtil::Shared(pose),
+ armarx::Serializable(pose),
+ armarx::VariantDataClass(pose),
PoseBase(pose),
FramedPoseBase(pose),
Pose(pose)
diff --git a/source/RobotAPI/libraries/core/FramedPose.h b/source/RobotAPI/libraries/core/FramedPose.h
index 601dc48bbb5df213edf8abbad0cf19bb487ae0b6..27a04fccb69d3b8bf89d91a4e33c45d0d0b36885 100644
--- a/source/RobotAPI/libraries/core/FramedPose.h
+++ b/source/RobotAPI/libraries/core/FramedPose.h
@@ -156,6 +156,7 @@ namespace armarx
//FramedPosition(const Vector3BasePtr pos, const std::string &frame ); // this doesnt work for unknown reasons
FramedPosition(const FramedPosition& other):
Shared(other),
+ armarx::Serializable(other),
Vector3Base(other.x, other.y, other.z),
FramedPositionBase(other.x, other.y, other.z, other.frame, other.agent),
Vector3(other.x, other.y, other.z)
diff --git a/source/RobotAPI/libraries/core/LinkedPose.cpp b/source/RobotAPI/libraries/core/LinkedPose.cpp
index 10b93907b5873f521378987329895c1a7033a960..4a4d285d97a3001b2d5d3eb1ab504604809806c6 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.cpp
+++ b/source/RobotAPI/libraries/core/LinkedPose.cpp
@@ -48,6 +48,8 @@ namespace armarx
LinkedPose::LinkedPose(const LinkedPose& other) :
IceUtil::Shared(other),
+ armarx::Serializable(other),
+ armarx::VariantDataClass(other),
PoseBase(other),
FramedPoseBase(other),
LinkedPoseBase(other),
@@ -214,6 +216,7 @@ namespace armarx
LinkedDirection::LinkedDirection(const LinkedDirection& source) :
IceUtil::Shared(source),
+ armarx::Serializable(source),
Vector3Base(source),
FramedDirectionBase(source),
LinkedDirectionBase(source),
diff --git a/source/RobotAPI/libraries/core/Pose.cpp b/source/RobotAPI/libraries/core/Pose.cpp
index 0bca83408ff4831cd028c664aed9c20f7e056c1f..39968afc088d5ed82cad8461cfd89cb96a75e321 100644
--- a/source/RobotAPI/libraries/core/Pose.cpp
+++ b/source/RobotAPI/libraries/core/Pose.cpp
@@ -277,6 +277,8 @@ namespace armarx
Pose::Pose(const Pose& source) :
IceUtil::Shared(source),
+ armarx::Serializable(source),
+ armarx::VariantDataClass(source),
PoseBase(source)
{
orientation = QuaternionBasePtr::dynamicCast(source.orientation->clone());
diff --git a/source/RobotAPI/libraries/core/Trajectory.cpp b/source/RobotAPI/libraries/core/Trajectory.cpp
index f8068131cc9a3d0b939ff06242505195310f830a..1c75dcd1cf70470595a5f2f0f242e1106c287229 100644
--- a/source/RobotAPI/libraries/core/Trajectory.cpp
+++ b/source/RobotAPI/libraries/core/Trajectory.cpp
@@ -176,6 +176,8 @@ namespace armarx
Trajectory::Trajectory(const Trajectory& source) :
IceUtil::Shared(source),
+ armarx::Serializable(source),
+ armarx::VariantDataClass(source),
TrajectoryBase(source)
{
CopyData(source, *this);